diff --git a/doc/architecture/PlatoonController.xml b/doc/architecture/PlatoonController.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1688c34a2673c1b1b1c45012d88a58282d6dbead
--- /dev/null
+++ b/doc/architecture/PlatoonController.xml
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/doc/architecture/sw_architektur.xml b/doc/architecture/sw_architektur.xml
index 389cfa98376e13d190bb5d75b0f2a5c4c2176c28..6a99dfe43b06d77da9fc002093a66cf31b3dbceb 100644
--- a/doc/architecture/sw_architektur.xml
+++ b/doc/architecture/sw_architektur.xml
@@ -1 +1 @@
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name="Page-1">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</diagram></mxfile>
\ No newline at end of file
diff --git a/doc/logBuch.md b/doc/logBuch.md
index 009ad6566e2e69df7210e93a4decf1d69f462525..8bf120d687524e04daf07e7868ca893efaed65d3 100644
--- a/doc/logBuch.md
+++ b/doc/logBuch.md
@@ -9,7 +9,8 @@ Mo. 23.10
 - Festlegung der "Hardware-Verantworlichen" jeder Gruppe
 
 Fr. 27.10 ( nur Hardware-Verantworliche; bei Assystem )
----------------------------------------------------------------- Vorstellung von Felix Klemm und Patrick ?? also Hardware-Kontakt
+---------------------------------------------------------------
+- Vorstellung von Felix Klemm und Patrick ?? also Hardware-Kontakt
 - Einführung in die Hardware
 - Klärung von Rahmenbedingung
 
@@ -79,8 +80,33 @@ Mo. 22.01. (Schlingloff)
 - Forstschritt bei STM (B)
 - Ultraschallsensoren geliefert
 - ODROID: 3 in den Gruppen, 1 kaputt, 2 bei FOKUS?
-- Zusammenbau von Hardware, fehlende Teile in Bestelllisten
+- Zusammenbau der Hardware, fehlende Teile in Bestelllisten
 
 Mo. 29.01. (Schlingloff)
 ----------------------------------------------------------------
+- Vorstellung der Ergebnisse beim Tag der Naturwissenschaft 22.05.19 (Ablauf)
+- Verzögerungen/Probleme bei Power-Boards
+- Kommunikationsprotokollprobleme beseitigt
+- Ultraschallsensoren (Vereinheitlichung)
+- Vorbereitung Diskussion/Probleme Kreuzmann
+
+Mi. 31.01 (Assystem)
+- Verhandlungsspielraum durch UDP/Kalman-Filter
+
+Fr. 02.02. (FOKUS)
+----------------------------------------------------------------
+- Liste mit fehlenden Teilen ertellt (Powerboards, Akkus, ODROID-Shifter)
+
+Mo. 05.02. (Schlingloff)
+----------------------------------------------------------------
+- Strukturierung der Dokumentation
+- Nachbesprechung der Diskussion mit Kreuzmann
+- Suche nach passendem Simulator
+- Deeskalation Powerboard-Problem (Transformatoren gekauft)
+- Voraussetzungen zum Löten sind geschaffen
+- Zusammenbau der Autos eine Woche später (Fr. 16.2.?)
+- absehbar weniger Arbeitsleistung durch Klausurenphase
+
+Mo. 12.02. (Schlingloff)
+----------------------------------------------------------------
 - 
\ No newline at end of file
diff --git a/doc/mainDocument/img/sw_architektur.png b/doc/mainDocument/img/sw_architektur.png
index 1fcbf17935004ea40f51e62e6e40963fbf740944..1a46c8ed5a63932f570c836f6ba2a2ced1cebdcd 100644
Binary files a/doc/mainDocument/img/sw_architektur.png and b/doc/mainDocument/img/sw_architektur.png differ
diff --git a/modules/catkin_ws/gitignore b/modules/catkin_ws/.gitignore
similarity index 100%
rename from modules/catkin_ws/gitignore
rename to modules/catkin_ws/.gitignore
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20b046a7e23e87ff158a385c59f95c36ea06e87c
--- /dev/null
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(car)
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  nodelet
+  message_generation
+)
+find_package(Boost REQUIRED COMPONENTS system)
+
+
+add_message_files(
+  FILES
+)
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  #LIBRARIES nodelet_talker
+  CATKIN_DEPENDS roscpp std_msgs nodelet rospy #message_runtime
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+#add_library(nodelet_talker src/testnodelets/NodeletTalker.cpp)
+#add_dependencies(nodelet_talker ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+#target_link_libraries(nodelet_talker ${catkin_LIBRARIES})
+
+install(
+  TARGETS
+    #nodelet_talker
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY
+    #include/testnodelets/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(
+  DIRECTORY plugins/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/plugins
+  PATTERN ".svn" EXCLUDE
+)
diff --git a/modules/catkin_ws/src/car/include/environment/environment.h b/modules/catkin_ws/src/car/include/environment/environment.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/modules/catkin_ws/src/car/msg/enableLogging.msg b/modules/catkin_ws/src/car/msg/enableLogging.msg
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/modules/catkin_ws/src/car/package.xml b/modules/catkin_ws/src/car/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8e0bfff19433993c0b993f6e5ae871e3f914980c
--- /dev/null
+++ b/modules/catkin_ws/src/car/package.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>car</name>
+  <version>0.0.0</version>
+  <description>The car package</description>
+
+  <maintainer email="root@todo.todo">root</maintainer>
+
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>nodelet</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>nodelet</build_export_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+
+
+  <export>
+    <nodelet plugin="${prefix}/plugins/nodelet_plugins.xml" />
+  </export>
+</package>
diff --git a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bc04715781387c1bfb1358845a43f07cf3f7f714
--- /dev/null
+++ b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
@@ -0,0 +1,11 @@
+<!--
+<library path="lib/libnodelet_talker">
+  <class name="autonom_a/nodelet_talker"
+	 type="autonom_a::NodeletTalker"
+	 base_class_type="nodelet::Nodelet">
+  <description>
+  This is my.
+  </description>
+  </class>
+</library>
+-->
diff --git a/modules/catkin_ws/src/car/src/environment/environment.cpp b/modules/catkin_ws/src/car/src/environment/environment.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391